Code for autonomous rover for Sparkfun AVC. DataBus won 3rd in 2012 and the same code was used on Troubled Child, a 1986 Jeep Grand Wagoneer to win 1st in 2014.
Dependencies: mbed Watchdog SDFileSystem DigoleSerialDisp
Diff: MAVlink/include/common/mavlink_msg_local_position.h
- Revision:
- 0:a6a169de725f
diff -r 000000000000 -r a6a169de725f MAVlink/include/common/mavlink_msg_local_position.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/MAVlink/include/common/mavlink_msg_local_position.h Mon May 27 13:26:03 2013 +0000 @@ -0,0 +1,242 @@ +// MESSAGE LOCAL_POSITION PACKING + +#define MAVLINK_MSG_ID_LOCAL_POSITION 31 + +typedef struct __mavlink_local_position_t +{ + uint64_t usec; ///< Timestamp (microseconds since UNIX epoch or microseconds since system boot) + float x; ///< X Position + float y; ///< Y Position + float z; ///< Z Position + float vx; ///< X Speed + float vy; ///< Y Speed + float vz; ///< Z Speed + +} mavlink_local_position_t; + + + +/** + * @brief Pack a local_position message + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param msg The MAVLink message to compress the data into + * + * @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot) + * @param x X Position + * @param y Y Position + * @param z Z Position + * @param vx X Speed + * @param vy Y Speed + * @param vz Z Speed + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_local_position_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint64_t usec, float x, float y, float z, float vx, float vy, float vz) +{ + uint16_t i = 0; + msg->msgid = MAVLINK_MSG_ID_LOCAL_POSITION; + + i += put_uint64_t_by_index(usec, i, msg->payload); // Timestamp (microseconds since UNIX epoch or microseconds since system boot) + i += put_float_by_index(x, i, msg->payload); // X Position + i += put_float_by_index(y, i, msg->payload); // Y Position + i += put_float_by_index(z, i, msg->payload); // Z Position + i += put_float_by_index(vx, i, msg->payload); // X Speed + i += put_float_by_index(vy, i, msg->payload); // Y Speed + i += put_float_by_index(vz, i, msg->payload); // Z Speed + + return mavlink_finalize_message(msg, system_id, component_id, i); +} + +/** + * @brief Pack a local_position message + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param chan The MAVLink channel this message was sent over + * @param msg The MAVLink message to compress the data into + * @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot) + * @param x X Position + * @param y Y Position + * @param z Z Position + * @param vx X Speed + * @param vy Y Speed + * @param vz Z Speed + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_local_position_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint64_t usec, float x, float y, float z, float vx, float vy, float vz) +{ + uint16_t i = 0; + msg->msgid = MAVLINK_MSG_ID_LOCAL_POSITION; + + i += put_uint64_t_by_index(usec, i, msg->payload); // Timestamp (microseconds since UNIX epoch or microseconds since system boot) + i += put_float_by_index(x, i, msg->payload); // X Position + i += put_float_by_index(y, i, msg->payload); // Y Position + i += put_float_by_index(z, i, msg->payload); // Z Position + i += put_float_by_index(vx, i, msg->payload); // X Speed + i += put_float_by_index(vy, i, msg->payload); // Y Speed + i += put_float_by_index(vz, i, msg->payload); // Z Speed + + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); +} + +/** + * @brief Encode a local_position struct into a message + * + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param msg The MAVLink message to compress the data into + * @param local_position C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_local_position_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_local_position_t* local_position) +{ + return mavlink_msg_local_position_pack(system_id, component_id, msg, local_position->usec, local_position->x, local_position->y, local_position->z, local_position->vx, local_position->vy, local_position->vz); +} + +/** + * @brief Send a local_position message + * @param chan MAVLink channel to send the message + * + * @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot) + * @param x X Position + * @param y Y Position + * @param z Z Position + * @param vx X Speed + * @param vy Y Speed + * @param vz Z Speed + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_local_position_send(mavlink_channel_t chan, uint64_t usec, float x, float y, float z, float vx, float vy, float vz) +{ + mavlink_message_t msg; + mavlink_msg_local_position_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, usec, x, y, z, vx, vy, vz); + mavlink_send_uart(chan, &msg); +} + +#endif +// MESSAGE LOCAL_POSITION UNPACKING + +/** + * @brief Get field usec from local_position message + * + * @return Timestamp (microseconds since UNIX epoch or microseconds since system boot) + */ +static inline uint64_t mavlink_msg_local_position_get_usec(const mavlink_message_t* msg) +{ + generic_64bit r; + r.b[7] = (msg->payload)[0]; + r.b[6] = (msg->payload)[1]; + r.b[5] = (msg->payload)[2]; + r.b[4] = (msg->payload)[3]; + r.b[3] = (msg->payload)[4]; + r.b[2] = (msg->payload)[5]; + r.b[1] = (msg->payload)[6]; + r.b[0] = (msg->payload)[7]; + return (uint64_t)r.ll; +} + +/** + * @brief Get field x from local_position message + * + * @return X Position + */ +static inline float mavlink_msg_local_position_get_x(const mavlink_message_t* msg) +{ + generic_32bit r; + r.b[3] = (msg->payload+sizeof(uint64_t))[0]; + r.b[2] = (msg->payload+sizeof(uint64_t))[1]; + r.b[1] = (msg->payload+sizeof(uint64_t))[2]; + r.b[0] = (msg->payload+sizeof(uint64_t))[3]; + return (float)r.f; +} + +/** + * @brief Get field y from local_position message + * + * @return Y Position + */ +static inline float mavlink_msg_local_position_get_y(const mavlink_message_t* msg) +{ + generic_32bit r; + r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float))[0]; + r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float))[1]; + r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float))[2]; + r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float))[3]; + return (float)r.f; +} + +/** + * @brief Get field z from local_position message + * + * @return Z Position + */ +static inline float mavlink_msg_local_position_get_z(const mavlink_message_t* msg) +{ + generic_32bit r; + r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[0]; + r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[1]; + r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[2]; + r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[3]; + return (float)r.f; +} + +/** + * @brief Get field vx from local_position message + * + * @return X Speed + */ +static inline float mavlink_msg_local_position_get_vx(const mavlink_message_t* msg) +{ + generic_32bit r; + r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[0]; + r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[1]; + r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[2]; + r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[3]; + return (float)r.f; +} + +/** + * @brief Get field vy from local_position message + * + * @return Y Speed + */ +static inline float mavlink_msg_local_position_get_vy(const mavlink_message_t* msg) +{ + generic_32bit r; + r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0]; + r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1]; + r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2]; + r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3]; + return (float)r.f; +} + +/** + * @brief Get field vz from local_position message + * + * @return Z Speed + */ +static inline float mavlink_msg_local_position_get_vz(const mavlink_message_t* msg) +{ + generic_32bit r; + r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0]; + r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1]; + r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2]; + r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3]; + return (float)r.f; +} + +/** + * @brief Decode a local_position message into a struct + * + * @param msg The message to decode + * @param local_position C-struct to decode the message contents into + */ +static inline void mavlink_msg_local_position_decode(const mavlink_message_t* msg, mavlink_local_position_t* local_position) +{ + local_position->usec = mavlink_msg_local_position_get_usec(msg); + local_position->x = mavlink_msg_local_position_get_x(msg); + local_position->y = mavlink_msg_local_position_get_y(msg); + local_position->z = mavlink_msg_local_position_get_z(msg); + local_position->vx = mavlink_msg_local_position_get_vx(msg); + local_position->vy = mavlink_msg_local_position_get_vy(msg); + local_position->vz = mavlink_msg_local_position_get_vz(msg); +}